#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char** argv){

  ros::init(argc, argv, "robot_tf_publisher");

  ros::NodeHandle n;

  ros::Rate r(100);


  static tf::TransformBroadcaster broadcaster;


  while(n.ok()){

    broadcaster.sendTransform(

      tf::StampedTransform(

        tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.1, 0.0, 0.2)),

        ros::Time::now(),"base_link", "base_laser"));

    r.sleep();

  }

}
